mlsanityData to 7 Oct 2026

ContactOpt: Optimizing Contact to Improve Grasps

arXiv 2104.07267 ↗First posted 15 Apr 2021cs.CVcited by 137

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Abstract (arXiv)

Physical contact between hands and objects plays a critical role in human grasps. We show that optimizing the pose of a hand to achieve expected contact with an object can improve hand poses inferred via image-based methods. Given a hand mesh and an object mesh, a deep model trained on ground truth contact data infers desirable contact across the surfaces of the meshes. Then, ContactOpt efficiently optimizes the pose of the hand to achieve desirable contact using a differentiable contact model. Notably, our contact model encourages mesh interpenetration to approximate deformable soft tissue in the hand. In our evaluations, our methods result in grasps that better match ground truth contact, have lower kinematic error, and are significantly preferred by human participants. Code and models are available online.

Key facts. Cited by 137 papers in the map (data through 7 Oct 2026). Builds on 32 of its 61 references that are in the map. First posted on arXiv 15 Apr 2021.

Builds on

32 of 61 references.

References · 32

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2019PyTorch: An Imperative Style, High-Performance Deep Learning Librarycited by 20,160
  3. 2017PointNet++: Deep Hierarchical Feature Learning on Point Sets in a Metric Spacecited by 4,384
  4. 2016Realtime Multi-Person 2D Pose Estimation using Part Affinity Fieldscited by 1,061
  5. 2018Learning Dexterous In-Hand Manipulationcited by 643
  6. 2020GRAB: A Dataset of Whole-Body Human Grasping of Objectscited by 397
  7. 2019Learning joint reconstruction of hands and manipulated objectscited by 377
  8. 2019FreiHAND: A Dataset for Markerless Capture of Hand Pose and Shape from Single RGB Imagescited by 271
  9. 2017Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metricscited by 259
  10. 2017First-Person Hand Action Benchmark with RGB-D Videos and 3D Hand Pose Annotationscited by 229
  11. 2015Supersizing Self-supervision: Learning to Grasp from 50K Tries and 700 Robot Hourscited by 208
  12. 2020ContactPose: A Dataset of Grasps with Object Contact and Hand Posecited by 180
20 more
  1. 2020Grasping Field: Learning Implicit Representations for Human Graspscited by 178
  2. 2017GANerated Hands for Real-time 3D Hand Tracking from Monocular RGBcited by 147
  3. 2019ContactDB: Analyzing and Predicting Grasp Contact via Thermal Imagingcited by 145
  4. 2019H+O: Unified Egocentric Recognition of 3D Hand-Object Poses and Interactionscited by 139
  5. 2020Leveraging Photometric Consistency over Time for Sparsely Supervised Hand-Object Reconstructioncited by 139
  6. 2020Combining Implicit Function Learning and Parametric Models for 3D Human Reconstructioncited by 133
  7. 2019Generating 3D People in Scenes without Peoplecited by 127
  8. 2018Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approachcited by 117
  9. 2015Capturing Hands in Action using Discriminative Salient Points and Physics Simulationcited by 115
  10. 2020HOPE-Net: A Graph-based Model for Hand-Object Pose Estimationcited by 112
  11. 2020Weakly Supervised 3D Hand Pose Estimation via Biomechanical Constraintscited by 97
  12. 2020Contact and Human Dynamics from Monocular Videocited by 94
  13. 2019ContactGrasp: Functional Multi-finger Grasp Synthesis from Contactcited by 87
  14. 2018Jacquard: A Large Scale Dataset for Robotic Grasp Detectioncited by 86
  15. 2017Real-time Hand Tracking under Occlusion from an Egocentric RGB-D Sensorcited by 84
  16. 2016Real-time Joint Tracking of a Hand Manipulating an Object from RGB-D Inputcited by 56
  17. 2017BigHand2.2M Benchmark: Hand Pose Dataset and State of the Art Analysiscited by 46
  18. 2020Detecting Hands and Recognizing Physical Contact in the Wildcited by 38
  19. 2020Bodies at Rest: 3D Human Pose and Shape Estimation from a Pressure Image using Synthetic Datacited by 34
  20. 2015Illusory Sense of Human Touch from a Warm and Soft Artificial Handcited by 1

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 7; 2022: 16; 2023: 35; 2024: 32; 2025: 24; 2026: 23.

137 papers.

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  1. 2022ARCTIC: A Dataset for Dexterous Bimanual Hand-Object Manipulationcited by 306
  2. 2022BEHAVE: Dataset and Method for Tracking Human Object Interactionscited by 246
  3. 2023InterDiff: Generating 3D Human-Object Interactions with Physics-Informed Diffusioncited by 181
  4. 2021GOAL: Generating 4D Whole-Body Motion for Hand-Object Graspingcited by 142
  5. 2023CG-HOI: Contact-Guided 3D Human-Object Interaction Generationcited by 137
  6. 2022OakInk: A Large-scale Knowledge Repository for Understanding Hand-Object Interactioncited by 129
  7. 2022IMos: Intent-Driven Full-Body Motion Synthesis for Human-Object Interactionscited by 121
  8. 2023UniDexGrasp: Universal Robotic Dexterous Grasping via Learning Diverse Proposal Generation and Goal-Conditioned Policycited by 117
  9. 2023Affordance Diffusion: Synthesizing Hand-Object Interactionscited by 110
  10. 2021D-Grasp: Physically Plausible Dynamic Grasp Synthesis for Hand-Object Interactionscited by 109
  11. 2022What's in your hands? 3D Reconstruction of Generic Objects in Handscited by 90
  12. 2021SAGA: Stochastic Whole-Body Grasping with Contactcited by 89
38 more
  1. 2023Hi4D: 4D Instance Segmentation of Close Human Interactioncited by 87
  2. 2024Text2HOI: Text-guided 3D Motion Generation for Hand-Object Interactioncited by 84
  3. 2021ArtiBoost: Boosting Articulated 3D Hand-Object Pose Estimation via Online Exploration and Synthesiscited by 76
  4. 2023HOLD: Category-agnostic 3D Reconstruction of Interacting Hands and Objects from Videocited by 76
  5. 2022TOCH: Spatio-Temporal Object-to-Hand Correspondence for Motion Refinementcited by 69
  6. 2024Human-Object Interaction from Human-Level Instructionscited by 62
  7. 2022GenDexGrasp: Generalizable Dexterous Graspingcited by 54
  8. 2023DECO: Dense Estimation of 3D Human-Scene Contact In The Wildcited by 54
  9. 2023ArtiGrasp: Physically Plausible Synthesis of Bi-Manual Dexterous Grasping and Articulationcited by 53
  10. 2024ReGenNet: Towards Human Action-Reaction Synthesiscited by 53
  11. 2023Physically Plausible Full-Body Hand-Object Interaction Synthesiscited by 52
  12. 2023ContactGen: Generative Contact Modeling for Grasp Generationcited by 52
  13. 2021A Skeleton-Driven Neural Occupancy Representation for Articulated Handscited by 50
  14. 2022FLEX: Full-Body Grasping Without Full-Body Graspscited by 46
  15. 2024G-HOP: Generative Hand-Object Prior for Interaction Reconstruction and Grasp Synthesiscited by 43
  16. 2023Detecting Human-Object Contact in Imagescited by 41
  17. 2023Task-Oriented Human-Object Interactions Generation with Implicit Neural Representationscited by 41
  18. 2024HOIDiffusion: Generating Realistic 3D Hand-Object Interaction Datacited by 37
  19. 2023Object pop-up: Can we infer 3D objects and their poses from human interactions alone?cited by 36
  20. 2023Dexterous Functional Graspingcited by 36
  21. 2024Benchmarks and Challenges in Pose Estimation for Egocentric Hand Interactions with Objectscited by 35
  22. 2022Learning Continuous Grasping Function with a Dexterous Hand from Human Demonstrationscited by 34
  23. 2024GeneOH Diffusion: Towards Generalizable Hand-Object Interaction Denoising via Denoising Diffusioncited by 33
  24. 2024EasyHOI: Unleashing the Power of Large Models for Reconstructing Hand-Object Interactions in the Wildcited by 33
  25. 2024Beyond the Contact: Discovering Comprehensive Affordance for 3D Objects from Pre-trained 2D Diffusion Modelscited by 32
  26. 2023UGG: Unified Generative Graspingcited by 30
  27. 2024SemGrasp: Semantic Grasp Generation via Language Aligned Discretizationcited by 29
  28. 2024InterHandGen: Two-Hand Interaction Generation via Cascaded Reverse Diffusioncited by 28
  29. 2023GRIP: Generating Interaction Poses Using Spatial Cues and Latent Consistencycited by 26
  30. 2025A Survey on Human Interaction Motion Generationcited by 25
  31. 2022PressureVision: Estimating Hand Pressure from a Single RGB Imagecited by 23
  32. 2025PICO: Reconstructing 3D People In Contact with Objectscited by 22
  33. 2022Contact2Grasp: 3D Grasp Synthesis via Hand-Object Contact Constraintcited by 21
  34. 2024ManiDext: Hand-Object Manipulation Synthesis via Continuous Correspondence Embeddings and Residual-Guided Diffusioncited by 21
  35. 2021BodyPressure -- Inferring Body Pose and Contact Pressure from a Depth Imagecited by 20
  36. 2024GEARS: Local Geometry-aware Hand-object Interaction Synthesiscited by 20
  37. 2022Physical Interaction: Reconstructing Hand-object Interactions with Physicscited by 19
  38. 2023Grasp Multiple Objects with One Handcited by 18

50 most cited of 137 All 137 (JSON)